From a0af4af5b5c4451ba9406e7bed2b05ddc18b5422 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 4 Dec 2017 16:30:28 +1100
Subject: [PATCH] AP_InertialSensor: debugging code for EK2 bug

---
 libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
index 6d4807c998..f543f2d242 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
@@ -136,6 +136,13 @@ void AP_InertialSensor_SITL::generate_gyro(uint8_t instance)
 void AP_InertialSensor_SITL::timer_update(void)
 {
     uint64_t now = AP_HAL::micros64();
+#if 0
+    // insert a 1s pause in IMU data. This triggers a pause in EK2
+    // processing that leads to some interesting issues
+    if (now > 5e6 && now < 6e6) {
+        return;
+    }
+#endif
     for (uint8_t i=0; i<INS_SITL_INSTANCES; i++) {
         if (now >= next_accel_sample[i]) {
             generate_accel(i);